#### Summary of 3D geometry and pose

lesson

We recap the important points from this lecture.

lesson

We recap the important points from this lecture.

lesson

We summarise the important points from this lecture.

lesson

The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.

lesson

We resume our analysis of the 6-link robot Jacobian and focus on the rotational velocity part.

lesson

We summarise the important points from this lecture.

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We consider a robot, which has two rotary joints and an arm.